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UAVCAN: add static_assert, clean up a bit

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This commit is contained in:
Alexander Lerach
2026-01-27 11:26:37 +01:00
parent 1635e1cfc0
commit 59b4b777e5
2 changed files with 16 additions and 4 deletions
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src/drivers/uavcan/actuators/servo.cpp
+16 -3
View File
@@ -35,6 +35,8 @@
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof(arr[0]))
using namespace time_literals;
UavcanServoController::UavcanServoController(uavcan::INode &node) :
@@ -44,8 +46,20 @@ UavcanServoController::UavcanServoController(uavcan::INode &node) :
_uavcan_sub_temperature(node),
_uavcan_sub_circuit_status(node)
{
/* Ensure that future changes do not cause any out-of-bounds access */
static_assert(ARRAY_SIZE(_servo_status.servo) == servo_status_s::CONNECTED_SERVO_MAX);
static_assert(ARRAY_SIZE(_last_temperature) == servo_status_s::CONNECTED_SERVO_MAX);
static_assert(ARRAY_SIZE(_last_temperature_error_flag) == servo_status_s::CONNECTED_SERVO_MAX);
static_assert(ARRAY_SIZE(_last_voltage) == servo_status_s::CONNECTED_SERVO_MAX);
static_assert(ARRAY_SIZE(_last_current) == servo_status_s::CONNECTED_SERVO_MAX);
static_assert(ARRAY_SIZE(_last_power_error_flag) == servo_status_s::CONNECTED_SERVO_MAX);
static_assert(ARRAY_SIZE(_servo_temperature_counter) == servo_status_s::CONNECTED_SERVO_MAX);
static_assert(ARRAY_SIZE(_servo_power_counter) == servo_status_s::CONNECTED_SERVO_MAX);
_uavcan_pub_array_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
memset(_last_temperature, 0, sizeof(_last_temperature)); // Set bytes to 0
/* Init the arrays to zero */
memset(_last_temperature, 0, sizeof(_last_temperature));
memset(_last_temperature_error_flag, 0, sizeof(_last_temperature_error_flag));
memset(_last_voltage, 0, sizeof(_last_voltage));
memset(_last_current, 0, sizeof(_last_current));
@@ -74,8 +88,7 @@ UavcanServoController::init()
}
// Servo circuit status subscription
res = _uavcan_sub_circuit_status.start(CircuitStatusCbBinder(this,
&UavcanServoController::servo_circuit_status_sub_cb));
res = _uavcan_sub_circuit_status.start(CircuitStatusCbBinder(this, &UavcanServoController::servo_circuit_status_sub_cb));
if (res < 0) {
PX4_ERR("Servo circuit status sub failed %i", res);
src/drivers/uavcan/uavcan_main.cpp
-1
View File
@@ -1156,7 +1156,6 @@ void UavcanMixingInterfaceServo::mixerChanged()
if (i < servo_status_s::CONNECTED_SERVO_MAX) {
_servo_controller.servo_status().servo[i].servo_function = (uint8_t)_mixing_output.outputFunction(i);
}
}
_servo_controller.set_servo_count(servo_count);